Weeding machine weeding auxiliary system and method based on high-precision positioning

Abstract

The invention provides a weeding machine weeding auxiliary system and method based on high-precision positioning, and the system comprises a map generation module which is used for obtaining the information of a to-be-weeding farmland based on an unmanned plane, and generating a farmland region map based on the information of the to-be-weeding farmland; the positioning module is used for performing high-precision positioning updating on the weeding machine based on a preset frequency to obtain a real-time position of the weeding machine, and matching the real-time position with a farmland area map; and the weeding auxiliary module is used for determining the working position of the weeding machine in the farmland based on the matching result, generating a working route of the weeding machine based on the working position, and performing weeding auxiliary decision making on the weeding machine based on the working route. The positioning accuracy and the positioning effect of the weeding machine are improved, the situations of repeated weeding and weeding omission are avoided, and the weeding efficiency and quality are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a weeding auxiliary system and method for a weeder based on high-precision positioning. Background Art

[0002] At present, weeding is an indispensable agricultural project in agricultural development. Therefore, it is particularly important to control the weeding process.

[0003] However, with traditional weeders, operators struggle to precisely control the weeding range and determine the machine's position in the field in real time, making it easy to accidentally weed crops or miss overgrown areas. Furthermore, when operating on large farmland or complex terrain, the lack of precise positioning and navigation can hinder weeding efficiency and quality.

[0004] Therefore, in order to overcome the above-mentioned defects, the present invention provides a weeding auxiliary system and method for a weeder based on high-precision positioning. Summary of the Invention

[0005] The present invention provides a weeding assistance system and method for a weeder based on high-precision positioning, which is used to obtain information about the farmland to be weeded, generate a farmland area map based on the information about the farmland to be weeded, and then position the weeder to determine the real-time position of the weeder. The real-time position is then matched with the obtained farmland area map to determine the working position of the weeder in the farmland. Finally, a working route of the weeder is generated based on the working position, and weeding assistance decision-making for the weeder is made based on the working route, thereby improving the positioning accuracy and positioning effect of the weeder, avoiding repeated weeding and missed weeding, and greatly improving the weeding efficiency and quality.

[0006] The present invention provides a weeding auxiliary system for a weeder based on high-precision positioning, comprising:

[0007] A map generation module is used to obtain information about the farmland to be weeded based on the drone, and to generate a farmland area map based on the information about the farmland to be weeded;

[0008] The positioning module is used to update the weeder's high-precision positioning based on a preset frequency, obtain the weeder's real-time location, and match the real-time location with the farmland area map;

[0009] The weeding assistance module is used to determine the working position of the weeder in the farmland based on the matching results, generate the working route of the weeder based on the working position, and make weeding assistance decisions for the weeder based on the working route.

[0010] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a map generation module, includes:

[0011] Flight strategy development unit, used to:

[0012] Obtain the rough terrain and edge features of the farmland to be weeded, and determine the flight path of the UAV over the farmland to be weeded based on the rough terrain and row-by-row flight traversal;

[0013] The edge features of the farmland to be weeded are used as the basis for automatic correction of the UAV's flight edge and adapted in the UAV;

[0014] An image acquisition unit is used to control the UAV to acquire images of the farmland to be weeded based on the adaptation result, obtain an image of the farmland area, and transmit the image of the farmland area back to the management terminal;

[0015] An information determination unit, configured to:

[0016] The edge of the farmland area image transmitted back is determined based on the edge features. At the same time, the pixel of the farmland area image is traversed to obtain the visual representation of the recorded object at each pixel point;

[0017] The information of the farmland to be weeded is obtained based on the visual representation of the farmland edge and the recorded objects at each pixel point;

[0018] The map generating unit is used to generate a farmland area map based on the farmland information to be weeded.

[0019] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a map generating unit, comprises:

[0020] The information acquisition subunit is used to:

[0021] Obtaining a visual representation of the obtained farmland edge and the recorded object at each pixel point, and determining a terrain edge of the farmland to be weeded based on the farmland edge;

[0022] Determining crop distribution characteristics in the farmland to be weeded based on the visual representation of the recorded object at each pixel point, wherein the crop distribution characteristics include the distribution location and distribution range of different crop types in the farmland to be weeded;

[0023] The map generation subunit is used to determine the conversion ratio between the map and the actual farmland to be weeded based on the management terminal, and generate a farmland area map based on the conversion ratio, terrain edges and crop distribution characteristics.

[0024] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a map generation module, includes:

[0025] A data docking unit is used to obtain the obtained farmland area map, convert the farmland area map into an interactive map based on a preset script program, and dock the interactive map with the positioning system of the weeder;

[0026] Dynamic display configuration unit for:

[0027] Based on the docking results, the interactive map is divided into grids according to unit size, and a custom layer display mechanism is added to each grid based on the grid division results;

[0028] Configure the display conditions of the custom layer display mechanism and complete the application deployment of the farmland area map based on the configuration results.

[0029] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a positioning module, includes:

[0030] A testing unit is used to park the lawn mower multiple times at multiple preset test points and perform multiple position detection tests on the lawn mower to obtain corresponding test positions;

[0031] Verification unit, used for:

[0032] Obtaining the actual coordinate positions of different test points in the farmland to be weeded, and comparing the test positions with the actual coordinate positions;

[0033] The positioning accuracy of the lawn mower is determined based on the comparison result, and when the positioning accuracy meets a preset condition, it is determined to meet the requirement; otherwise, it is determined to not meet the requirement.

[0034] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a positioning module, includes:

[0035] Device integration modules for:

[0036] Obtain the frequency band range of the Beidou and GNSS high-precision modules and configure the frequency band of the antenna on the lawn mower based on the frequency band range. At the same time, obtain the satellite signal characteristics of the Beidou and GNSS high-precision modules based on the management terminal and configure a unified signal recognition strategy for the satellite signal acquisition phase in the lawn mower based on the satellite signal characteristics.

[0037] Determine the collaborative strategy of BeiDou and GNSS high-precision modules based on their individual characteristics, and perform collaborative configuration of BeiDou and GNSS high-precision modules based on the collaborative strategy;

[0038] Add standard application programming interfaces to BeiDou and GNSS high-precision modules based on configuration results;

[0039] Positioning module for:

[0040] Receiving satellite signals from a reference station with known position coordinates based on the configuration result, tracking and demodulating the received satellite signals based on the reference station, and determining first distances between the reference station and the satellites based on the tracking and demodulation results;

[0041] Determine, based on the positioning knowledge system, an error source affecting the first distance during the positioning process, and correct the first distance based on the error source, the known position coordinates of the reference station, and the satellite coordinates to obtain a distance correction coefficient;

[0042] The distance correction coefficient is transmitted to the lawn mower based on the reference station. At the same time, the antenna on the lawn mower is controlled to dynamically capture the satellite signal based on the preset frequency, and the dynamically captured satellite signal is analyzed to obtain the second distance between the lawn mower and the satellite;

[0043] Correcting the second distance based on the distance correction coefficient, and obtaining the real-time position of the lawn mower based on the correction result;

[0044] Matching unit for:

[0045] Uploading the obtained real-time position to an upper-layer application based on a standard application program interface, and generating a display icon of the weeder on a farmland area map based on the upper-layer application;

[0046] Match the real-time location to the field area map based on the displayed icon.

[0047] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a weeding auxiliary module, comprises:

[0048] A position determination unit is used to obtain a matching result between the real-time position of the weeder and the farmland area map, and based on the matching result, convert the real-time position of the weeder in the farmland into position coordinates to obtain the working position of the weeder in the farmland;

[0049] Route generation unit, used to:

[0050] Record the working position of the weeder at different times, and generate the working point of the weeder at each time in the farmland area map based on the recording results;

[0051] Based on the position change direction of the weeder, the working points at each moment are directed associated to obtain the working route of the weeder in the farmland.

[0052] Preferably, a weeding auxiliary system for a weeder based on high-precision positioning, a weeding auxiliary module, comprises:

[0053] Analytical unit for:

[0054] Divide the farmland to be weeded into regions based on the farmland region map, and add a region number to each region based on the region division result;

[0055] Determine the movement trajectory points of the weeder in each area of ​​the farmland to be weeded based on the working route of the weeder, and determine the traversal characteristics of the movement trajectory points of the weeder in each area of ​​the farmland to be weeded based on the area number;

[0056] Decision support unit, used for:

[0057] Determining the weeding points of the weeder in each area of ​​the farmland to be weeded based on the traversal features, and verifying the weeding status of each area of ​​the farmland to be weeded by the weeder based on the weeding points, wherein the verification includes whether the weeder has repeatedly weeded or missed weeding in each area of ​​the farmland to be weeded;

[0058] When repeated weeding or missed weeding occurs, a personalized control instruction for the weeder is generated, and auxiliary control of the weeder is performed based on the personalized control instruction.

[0059] The present invention provides a weeding assistance method for a weeder based on high-precision positioning, comprising:

[0060] Step 1: Obtain information about the farmland to be weeded using a drone, and generate a farmland area map based on the information about the farmland to be weeded;

[0061] Step 2: Perform high-precision positioning updates on the weeder based on a preset frequency to obtain the real-time location of the weeder, and match the real-time location with the farmland area map;

[0062] Step 3: Determine the working position of the weeder in the farmland based on the matching results, generate a working route for the weeder based on the working position, and make auxiliary weeding decisions for the weeder based on the working route.

[0063] Preferably, a weeding assistance method for a weeder based on high-precision positioning, in step 1, obtaining information of the farmland to be weeded based on a drone, and generating a farmland area map based on the information of the farmland to be weeded, including:

[0064] Obtain the rough terrain and edge features of the farmland to be weeded, and determine the flight path of the UAV over the farmland to be weeded based on the rough terrain and row-by-row flight traversal;

[0065] The edge features of the farmland to be weeded are used as the basis for automatic correction of the UAV's flight edge and adapted in the UAV;

[0066] Based on the adaptation result, the UAV is controlled to collect images of the farmland to be weeded above the farmland to be weeded, obtain an image of the farmland area, and transmit the image of the farmland area back to the management terminal;

[0067] The edge of the farmland area image transmitted back is determined based on the edge features. At the same time, the pixel of the farmland area image is traversed to obtain the visual representation of the recorded object at each pixel point;

[0068] The information of the farmland to be weeded is obtained based on the visual representation of the farmland edge and the recorded objects at each pixel point;

[0069] Generate a farmland area map based on the farmland information to be weeded.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] By obtaining the information of the farmland to be weeded, a farmland area map is generated based on the information of the farmland to be weeded. Secondly, the weeder is positioned to determine the real-time position of the weeder. The real-time position is then matched with the obtained farmland area map to determine the working position of the weeder in the farmland. Finally, the working route of the weeder is generated based on the working position, and auxiliary weeding decisions of the weeder are made based on the working route. This improves the positioning accuracy and positioning effect of the weeder, avoids repeated weeding and missed weeding, and greatly improves the weeding efficiency and quality.

[0072] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0073] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0075] Figure 1 This is a structural diagram of a weeding auxiliary system for a weeder based on high-precision positioning in an embodiment of the present invention;

[0076] Figure 2 This is a structural diagram of a map generation module in a weeding auxiliary system for a weeder based on high-precision positioning according to an embodiment of the present invention;

[0077] Figure 3 The flowchart of a weeding assistance method for a weeder based on high-precision positioning in an embodiment of the present invention. DETAILED DESCRIPTION

[0078] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0079] Example 1:

[0080] This embodiment provides a weeding auxiliary system for a weeder based on high-precision positioning, such as Figure 1 Shown, including:

[0081] A map generation module is used to obtain information about the farmland to be weeded based on the drone, and to generate a farmland area map based on the information about the farmland to be weeded;

[0082] The positioning module is used to update the weeder's high-precision positioning based on a preset frequency, obtain the weeder's real-time location, and match the real-time location with the farmland area map;

[0083] The weeding assistance module is used to determine the working position of the weeder in the farmland based on the matching results, generate the working route of the weeder based on the working position, and make weeding assistance decisions for the weeder based on the working route.

[0084] In this embodiment, the information of the farmland to be weeded includes the topography of the farmland to be weeded, the distribution range of crops, and the distribution of various types of crops in the farmland.

[0085] In this embodiment, the farmland area map refers to a topographic map that can record the topography of the farmland to be weeded and the distribution of crops.

[0086] In this embodiment, the preset frequency is set in advance, for example, ten times per minute.

[0087] In this embodiment, weeding auxiliary decision-making refers to determining whether there are areas of repeated weeding or missed weeding in the farmland to be weeded by the weeder based on the working route. If so, the weeder is controlled to avoid repeated weeding and missed weeding.

[0088] The beneficial effects of the above technical solution are: by obtaining the information of the farmland to be weeded, a farmland area map is generated according to the information of the farmland to be weeded; secondly, the weeder is positioned to determine the real-time position of the weeder, and then the real-time position is matched with the obtained farmland area map to determine the working position of the weeder in the farmland; finally, the working route of the weeder is generated according to the working position, and then auxiliary weeding decision-making of the weeder according to the working route is realized, which improves the positioning accuracy and positioning effect of the weeder, avoids repeated weeding and missed weeding, and greatly improves the weeding efficiency and quality.

[0089] Example 2:

[0090] Based on Example 1, this embodiment provides a weeding auxiliary system for a weeder based on high-precision positioning, such as Figure 2 As shown, the map generation module includes:

[0091] Flight strategy development unit, used to:

[0092] Obtain the rough terrain and edge features of the farmland to be weeded, and determine the flight path of the UAV over the farmland to be weeded based on the rough terrain and row-by-row flight traversal;

[0093] The edge features of the farmland to be weeded are used as the basis for automatic correction of the UAV's flight edge and adapted in the UAV;

[0094] An image acquisition unit is used to control the UAV to acquire images of the farmland to be weeded based on the adaptation result, obtain an image of the farmland area, and transmit the image of the farmland area back to the management terminal;

[0095] An information determination unit, configured to:

[0096] The edge of the farmland area image transmitted back is determined based on the edge features. At the same time, the pixel of the farmland area image is traversed to obtain the visual representation of the recorded object at each pixel point;

[0097] The information of the farmland to be weeded is obtained based on the visual representation of the farmland edge and the recorded objects at each pixel point;

[0098] The map generating unit is used to generate a farmland area map based on the farmland information to be weeded.

[0099] In this embodiment, the rough terrain refers to the approximate shape of the farmland to be weeded or the range of crops.

[0100] In this embodiment, the edge feature refers to the boundary between the farmland to be weeded and other farmlands, for example, it may be the difference in crop types.

[0101] In this embodiment, the row-by-row flight traversal refers to the flight mode of the drone during flight, that is, collecting images of the farmland to be weeded row by row.

[0102] In this embodiment, the visual representation refers to the specific situation presented by the recorded object at each pixel, that is, the visual features that can be viewed intuitively.

[0103] The beneficial effect of the above technical solution is: by planning the flight route of the UAV, the UAV can accurately and effectively obtain the information of the farmland to be weeded, and then generate a farmland area map based on the information of the farmland to be weeded, which provides convenience and guarantee for the weeding assistance of the weeder with high-precision positioning.

[0104] Example 3:

[0105] Based on Example 2, this embodiment provides a weeding assistance system for a weeder based on high-precision positioning, and a map generation unit, including:

[0106] The information acquisition subunit is used to:

[0107] Obtaining a visual representation of the obtained farmland edge and the recorded object at each pixel point, and determining a terrain edge of the farmland to be weeded based on the farmland edge;

[0108] Determining crop distribution characteristics in the farmland to be weeded based on the visual representation of the recorded object at each pixel point, wherein the crop distribution characteristics include the distribution location and distribution range of different crop types in the farmland to be weeded;

[0109] The map generation unit is used to determine the conversion ratio between the map and the actual farmland to be weeded based on the management terminal, and generate a farmland area map based on the conversion ratio, terrain edges and crop distribution characteristics.

[0110] In this embodiment, the conversion ratio refers to the scaling ratio between the map and the actual farmland to be weeded, which may be, for example, a ratio of 20:1.

[0111] The beneficial effect of the above technical solution is: by determining the crop distribution characteristics in the farmland to be weeded based on the farmland edge and visual representation, and at the same time, considering the conversion ratio between the map and the actual farmland to be weeded, the farmland area map can be accurately and effectively generated, ensuring the accuracy and reliability of the obtained farmland area map.

[0112] Example 4:

[0113] Based on Example 1, this embodiment provides a weeding assistance system for a weeder based on high-precision positioning, and a map generation module, including:

[0114] A data docking unit is used to obtain the obtained farmland area map, convert the farmland area map into an interactive map based on a preset script program, and dock the interactive map with the positioning system of the weeder;

[0115] Dynamic display configuration unit for:

[0116] Based on the docking results, the interactive map is divided into grids according to unit size, and a custom layer display mechanism is added to each grid based on the grid division results;

[0117] Configure the display conditions of the custom layer display mechanism and complete the application deployment of the farmland area map based on the configuration results.

[0118] In this embodiment, the preset script program is set in advance and is used to convert the farmland area map into an interactive map, wherein the interactive map is a map that can dynamically display objects that need to be displayed, that is, it can be changed according to needs.

[0119] In this embodiment, the unit size is set in advance, for example, one meter may be a grid.

[0120] In this embodiment, the customized layer display mechanism refers to configuring the objects to be displayed in each grid according to requirements, that is, the position of the lawn mower in each area can be displayed.

[0121] In this embodiment, the display condition configuration refers to the prerequisite for the operation of the custom layer display mechanism, and specifically, the lawn mower can be displayed only when it appears in the corresponding working area.

[0122] The beneficial effects of the above technical solution are: by configuring the obtained farmland area map, connecting the interactive map obtained after configuration with the positioning system, and gridding the interactive map and adding a custom layer display mechanism, it provides convenience for the subsequent display of the real-time position of the weeder on the farmland area map.

[0123] Example 5:

[0124] Based on Example 1, this embodiment provides a weeding auxiliary system for a weeder based on high-precision positioning, and the positioning module includes:

[0125] A testing unit is used to park the lawn mower multiple times at multiple preset test points and perform multiple position detection tests on the lawn mower to obtain corresponding test positions;

[0126] Verification unit, used for:

[0127] Obtaining the actual coordinate positions of different test points in the farmland to be weeded, and comparing the test positions with the actual coordinate positions;

[0128] The positioning accuracy of the lawn mower is determined based on the comparison result, and when the positioning accuracy meets a preset condition, it is determined to meet the requirement; otherwise, it is determined to not meet the requirement.

[0129] In this embodiment, the preset multiple test points are known in advance, and the specific positions of the test points are known, and are used to test whether the positioning of the lawn mower is accurate.

[0130] In this embodiment, the test position refers to the result obtained after testing the position of the lawn mower at multiple test points.

[0131] In this embodiment, the preset conditions are set in advance, for example, centimeter-level accuracy.

[0132] The beneficial effect of the above technical solution is that the positioning accuracy of the weeder in the farmland is verified, thereby ensuring the accurate positioning of the weeder in actual application.

[0133] Example 6:

[0134] Based on Example 1, this embodiment provides a weeding auxiliary system for a weeder based on high-precision positioning, and the positioning module includes:

[0135] Device integration modules for:

[0136] Obtain the frequency band range of the Beidou and GNSS high-precision modules and configure the frequency band of the antenna on the lawn mower based on the frequency band range. At the same time, obtain the satellite signal characteristics of the Beidou and GNSS high-precision modules based on the management terminal and configure a unified signal recognition strategy for the satellite signal acquisition phase in the lawn mower based on the satellite signal characteristics.

[0137] Determine the collaborative strategy of BeiDou and GNSS high-precision modules based on their individual characteristics, and perform collaborative configuration of BeiDou and GNSS high-precision modules based on the collaborative strategy;

[0138] Add standard application programming interfaces to BeiDou and GNSS high-precision modules based on configuration results;

[0139] Positioning module for:

[0140] Receiving satellite signals from a reference station with known position coordinates based on the configuration result, tracking and demodulating the received satellite signals based on the reference station, and determining first distances between the reference station and the satellites based on the tracking and demodulation results;

[0141] Determine, based on the positioning knowledge system, an error source affecting the first distance during the positioning process, and correct the first distance based on the error source, the known position coordinates of the reference station, and the satellite coordinates to obtain a distance correction coefficient;

[0142] The distance correction coefficient is transmitted to the lawn mower based on the reference station. At the same time, the antenna on the lawn mower is controlled to dynamically capture the satellite signal based on the preset frequency, and the dynamically captured satellite signal is analyzed to obtain the second distance between the lawn mower and the satellite;

[0143] Correcting the second distance based on the distance correction coefficient, and obtaining the real-time position of the lawn mower based on the correction result;

[0144] Matching unit for:

[0145] Uploading the obtained real-time position to an upper-layer application based on a standard application program interface, and generating a display icon of the weeder on a farmland area map based on the upper-layer application;

[0146] Match the real-time location to the field area map based on the displayed icon.

[0147] In this embodiment, the GNSS high-precision module includes multiple different types of satellite navigation systems.

[0148] In this embodiment, the frequency band range refers to the signal bandwidth corresponding to the Beidou and GNSS high-precision modules when performing satellite signal communications.

[0149] In this embodiment, the purpose of configuring the frequency band of the antenna on the lawn mower based on the frequency band range is to ensure that the satellite signals of the Beidou and GNSS high-precision modules can be effectively received.

[0150] In this embodiment, the satellite signal characteristics refer to the signal bandwidth and transmission frequency of the satellite signals of the Beidou and GNSS high-precision modules.

[0151] In this embodiment, the satellite signal capturing phase refers to the phase of receiving satellite signals.

[0152] In this embodiment, the unified signal recognition strategy configuration refers to configuring the signal recognition strategy in the lawn mower according to the satellite signal characteristics, so as to be able to effectively identify and receive the satellite signals of the Beidou and GNSS high-precision modules.

[0153] In this embodiment, the personalized features refer to the corresponding operating conditions and application scenarios when the Beidou and GNSS high-precision modules are running.

[0154] In this embodiment, the collaborative strategy refers to a method of uniformly coordinating the Beidou and GNSS high-precision modules when positioning the lawn mower. For example, when the Beidou signal is poor, the GNSS high-precision module is used for positioning.

[0155] In this embodiment, the standard application program interface refers to an interface capable of transmitting and transferring the positioning signal in the lawn mower.

[0156] In this embodiment, the reference station is constructed in advance, and the location of the reference station is known. The purpose is to correct the satellite signal received by the lawn mower according to the situation of receiving the satellite signal by the reference station.

[0157] In this embodiment, the first distance refers to the distance between the reference station and the satellite determined by the satellite signal received by the reference station.

[0158] In this embodiment, the positioning knowledge system is known in advance and records the factors that affect the distance between the reference station and the satellite during the positioning process.

[0159] In this embodiment, the error source refers to a specific factor that affects the first distance, such as ionospheric and tropospheric delays.

[0160] In this embodiment, the distance correction coefficient refers to a coefficient determined to correct the distance between the base station and the satellite after taking error sources into consideration.

[0161] In this embodiment, the preset frequency is set in advance, for example, five times per minute.

[0162] In this embodiment, the second distance refers to the distance between the lawn mower and the satellite, which is not corrected by the distance correction coefficient.

[0163] In this embodiment, the upper-layer application refers to a program capable of displaying and processing the real-time position of the lawn mower, that is, an application capable of visually converting the real-time position.

[0164] The beneficial effect of the above technical solution is: by integrating Beidou and GNSS high-precision modules into the lawn mower, it is convenient to effectively locate the lawn mower according to different situations. At the same time, during the positioning process, the distance correction coefficient to the satellite is determined by the base station, and the distance correction coefficient is transmitted to the lawn mower, which facilitates the lawn mower to effectively correct the distance between the lawn mower and the satellite, thereby providing convenience and guarantee for determining the real-time position of the lawn mower, and ensuring the accuracy of the positioning of the lawn mower.

[0165] Example 7:

[0166] Based on Example 1, this embodiment provides a weeding assistance system for a weeder based on high-precision positioning, and a weeding assistance module, including:

[0167] A position determination unit is used to obtain a matching result between the real-time position of the weeder and the farmland area map, and based on the matching result, convert the real-time position of the weeder in the farmland into position coordinates to obtain the working position of the weeder in the farmland;

[0168] Route generation unit, used to:

[0169] Record the working position of the weeder at different times, and generate the working point of the weeder at each time in the farmland area map based on the recording results;

[0170] Based on the position change direction of the weeder, the working points at each moment are directed associated to obtain the working route of the weeder in the farmland.

[0171] In this embodiment, the position coordinate conversion refers to converting the real-time position of the weeder into its position in the farmland, thereby facilitating determination of the weeding situation of the weeder in the farmland.

[0172] In this embodiment, the working point refers to the specific position of the lawn mower at each moment.

[0173] In this embodiment, directed association refers to directional association of working points at different times according to the movement direction (position change direction) of the weeder in the farmland, that is, the movement route and specific movement direction of the weeder can be determined after association.

[0174] The beneficial effect of the above technical solution is: by matching the real-time position of the weeder with the farmland area map, the working position of the weeder in the farmland can be effectively determined, and then the working route of the weeder in the farmland can be determined according to the working position, which provides convenience for auxiliary decision-making of weeding by the weeder.

[0175] Example 8:

[0176] Based on Example 1, this embodiment provides a weeding assistance system for a weeder based on high-precision positioning, and a weeding assistance module, including:

[0177] Analytical unit for:

[0178] Divide the farmland to be weeded into regions based on the farmland region map, and add a region number to each region based on the region division result;

[0179] Determine the movement trajectory points of the weeder in each area of ​​the farmland to be weeded based on the working route of the weeder, and determine the traversal characteristics of the movement trajectory points of the weeder in each area of ​​the farmland to be weeded based on the area number;

[0180] Decision support unit, used for:

[0181] Determining the weeding points of the weeder in each area of ​​the farmland to be weeded based on the traversal features, and verifying the weeding status of each area of ​​the farmland to be weeded by the weeder based on the weeding points, wherein the verification includes whether the weeder has repeatedly weeded or missed weeding in each area of ​​the farmland to be weeded;

[0182] When repeated weeding or missed weeding occurs, a personalized control instruction for the weeder is generated, and auxiliary control of the weeder is performed based on the personalized control instruction.

[0183] In this embodiment, the area number is a marking symbol used to distinguish different areas.

[0184] In this embodiment, the movement trajectory points refer to the movement routes of the weeder in various areas of the farmland to be weeded.

[0185] In this embodiment, the traversal feature refers to the specific location points where the weeder weeds in each area of ​​the farmland to be weeded according to the movement trajectory points.

[0186] In this embodiment, the weeding point refers to the actual working point of the weeder when weeding.

[0187] In this embodiment, the personalized control instruction refers to the control instruction generated for the lawn mower when repeated weeding or missed weeding occurs. Different instructions are generated in different situations. For example, when repeated weeding occurs, the generated personalized control instruction is to control the lawn mower to change the area.

[0188] The beneficial effect of the above technical solution is: by determining the weeding situation of the weeder in the farmland according to the working route of the weeder, it is convenient to generate personalized control instructions for the weeder when there is repeated weeding or missed weeding, and to assist in controlling the weeder according to the personalized control instructions, thereby greatly improving the weeding efficiency and weeding quality.

[0189] Example 9:

[0190] This embodiment provides a weeding assistance method for a weeder based on high-precision positioning, such as Figure 3 Shown, including:

[0191] Step 1: Obtain information about the farmland to be weeded using a drone, and generate a farmland area map based on the information about the farmland to be weeded;

[0192] Step 2: Perform high-precision positioning updates on the weeder based on a preset frequency to obtain the real-time location of the weeder, and match the real-time location with the farmland area map;

[0193] Step 3: Determine the working position of the weeder in the farmland based on the matching results, generate a working route for the weeder based on the working position, and make auxiliary weeding decisions for the weeder based on the working route.

[0194] The beneficial effects of the above technical solution are: by obtaining the information of the farmland to be weeded, a farmland area map is generated according to the information of the farmland to be weeded; secondly, the weeder is positioned to determine the real-time position of the weeder, and then the real-time position is matched with the obtained farmland area map to determine the working position of the weeder in the farmland; finally, the working route of the weeder is generated according to the working position, and then auxiliary weeding decision-making of the weeder according to the working route is realized, which improves the positioning accuracy and positioning effect of the weeder, avoids repeated weeding and missed weeding, and greatly improves the weeding efficiency and quality.

[0195] Example 10:

[0196] Based on Example 9, this embodiment provides a weeding assistance method for a weeder based on high-precision positioning. In step 1, information about the farmland to be weeded is obtained using a drone, and a farmland area map is generated based on the information about the farmland to be weeded, including:

[0197] Obtain the rough terrain and edge features of the farmland to be weeded, and determine the flight path of the UAV over the farmland to be weeded based on the rough terrain and row-by-row flight traversal;

[0198] The edge features of the farmland to be weeded are used as the basis for automatic correction of the UAV's flight edge and adapted in the UAV;

[0199] Based on the adaptation result, the UAV is controlled to collect images of the farmland to be weeded above the farmland to be weeded, obtain an image of the farmland area, and transmit the image of the farmland area back to the management terminal;

[0200] The edge of the farmland area image transmitted back is determined based on the edge features. At the same time, the pixel of the farmland area image is traversed to obtain the visual representation of the recorded object at each pixel point;

[0201] The information of the farmland to be weeded is obtained based on the visual representation of the farmland edge and the recorded objects at each pixel point;

[0202] Generate a farmland area map based on the farmland information to be weeded.

[0203] The beneficial effect of the above technical solution is: by planning the flight route of the UAV, the UAV can accurately and effectively obtain the information of the farmland to be weeded, and then generate a farmland area map based on the information of the farmland to be weeded, providing traversal and guarantee for the weeding assistance of the weeder with high-precision positioning.

[0204] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A weeding auxiliary system for a weeder based on high-precision positioning, characterized in that: include: A map generation module is used to obtain information about the farmland to be weeded based on the drone, and to generate a farmland area map based on the information about the farmland to be weeded; The positioning module is used to update the weeder's high-precision positioning based on a preset frequency, obtain the weeder's real-time location, and match the real-time location with the farmland area map; The weeding assistance module is used to determine the working position of the weeder in the farmland based on the matching results, generate the working route of the weeder based on the working position, and make weeding assistance decisions for the weeder based on the working route.

2. The weeding auxiliary system for weeders based on high-precision positioning according to claim 1, characterized in that: Map generation module, including: Flight strategy development unit, used to: Obtain the rough terrain and edge features of the farmland to be weeded, and determine the flight path of the UAV over the farmland to be weeded based on the rough terrain and row-by-row flight traversal; The edge features of the farmland to be weeded are used as the basis for automatic correction of the UAV's flight edge and adapted in the UAV; An image acquisition unit is used to control the UAV to acquire images of the farmland to be weeded based on the adaptation result, obtain an image of the farmland area, and transmit the image of the farmland area back to the management terminal; An information determination unit, configured to: The edge of the farmland area image transmitted back is determined based on the edge features. At the same time, the pixel of the farmland area image is traversed to obtain the visual representation of the recorded object at each pixel point; The information of the farmland to be weeded is obtained based on the visual representation of the farmland edge and the recorded objects at each pixel point; The map generating unit is used to generate a farmland area map based on the farmland information to be weeded.

3. The weeding auxiliary system for weeders based on high-precision positioning according to claim 1, characterized in that: Map generation unit, including: The information acquisition subunit is used to: Obtaining a visual representation of the obtained farmland edge and the recorded object at each pixel point, and determining a terrain edge of the farmland to be weeded based on the farmland edge; Determining crop distribution characteristics in the farmland to be weeded based on the visual representation of the recorded object at each pixel point, wherein the crop distribution characteristics include the distribution location and distribution range of different crop types in the farmland to be weeded; The map generation subunit is used to determine the conversion ratio between the map and the actual farmland to be weeded based on the management terminal, and generate a farmland area map based on the conversion ratio, terrain edges and crop distribution characteristics.

4. The weeding auxiliary system for a weeder based on high-precision positioning according to claim 1, characterized in that: Map generation module, including: A data docking unit is used to obtain the obtained farmland area map, convert the farmland area map into an interactive map based on a preset script program, and dock the interactive map with the positioning system of the weeder; Dynamic display configuration unit for: Based on the docking results, the interactive map is divided into grids according to unit size, and a custom layer display mechanism is added to each grid based on the grid division results; Configure the display conditions of the custom layer display mechanism and complete the application deployment of the farmland area map based on the configuration results.

5. The weeding auxiliary system for weeders based on high-precision positioning according to claim 1, characterized in that: Positioning module, including: A testing unit is used to park the lawn mower multiple times at multiple preset test points and perform multiple position detection tests on the lawn mower to obtain corresponding test positions; Verification unit, used for: Obtaining the actual coordinate positions of different test points in the farmland to be weeded, and comparing the test positions with the actual coordinate positions; The positioning accuracy of the lawn mower is determined based on the comparison result, and when the positioning accuracy meets a preset condition, it is determined to meet the requirement; otherwise, it is determined to not meet the requirement.

6. The weeding auxiliary system for weeders based on high-precision positioning according to claim 1, characterized in that: Positioning module, including: Device integration modules for: Obtain the frequency band range of the Beidou and GNSS high-precision modules and configure the frequency band of the antenna on the lawn mower based on the frequency band range. At the same time, obtain the satellite signal characteristics of the Beidou and GNSS high-precision modules based on the management terminal and configure a unified signal recognition strategy for the satellite signal acquisition phase in the lawn mower based on the satellite signal characteristics. Determine the collaborative strategy of BeiDou and GNSS high-precision modules based on their individual characteristics, and perform collaborative configuration of BeiDou and GNSS high-precision modules based on the collaborative strategy; Add standard application programming interfaces to BeiDou and GNSS high-precision modules based on configuration results; Positioning module for: Receiving satellite signals from a reference station with known position coordinates based on the configuration result, tracking and demodulating the received satellite signals based on the reference station, and determining first distances between the reference station and the satellites based on the tracking and demodulation results; Determine, based on the positioning knowledge system, an error source that affects the first distance during the positioning process, and correct the first distance based on the error source, the known position coordinates of the reference station, and the satellite coordinates to obtain a distance correction coefficient; The distance correction coefficient is transmitted to the lawn mower based on the reference station. At the same time, the antenna on the lawn mower is controlled to dynamically capture the satellite signal based on the preset frequency, and the dynamically captured satellite signal is analyzed to obtain the second distance between the lawn mower and the satellite; Correcting the second distance based on the distance correction coefficient, and obtaining the real-time position of the lawn mower based on the correction result; Matching unit for: Uploading the obtained real-time position to an upper-layer application based on a standard application program interface, and generating a display icon of the weeder on a farmland area map based on the upper-layer application; Match the real-time location to the field area map based on the displayed icon.

7. The weeding auxiliary system for weeders based on high-precision positioning according to claim 1, characterized in that: Weed control auxiliary module, including: A position determination unit is used to obtain a matching result between the real-time position of the weeder and the farmland area map, and based on the matching result, convert the real-time position of the weeder in the farmland into position coordinates to obtain the working position of the weeder in the farmland; Route generation unit, used to: Record the working position of the weeder at different times, and generate the working point of the weeder at each time in the farmland area map based on the recording results; Based on the position change direction of the weeder, the working points at each moment are directed associated to obtain the working route of the weeder in the farmland.

8. The weeding auxiliary system for a weeder based on high-precision positioning according to claim 1, characterized in that: Weed control auxiliary module, including: Analytical unit for: Divide the farmland to be weeded into regions based on the farmland region map, and add a region number to each region based on the region division result; Determine the movement trajectory points of the weeder in each area of ​​the farmland to be weeded based on the working route of the weeder, and determine the traversal characteristics of the movement trajectory points of the weeder in each area of ​​the farmland to be weeded based on the area number; Decision support unit, used for: Determining the weeding points of the weeder in each area of ​​the farmland to be weeded based on the traversal features, and verifying the weeding status of each area of ​​the farmland to be weeded by the weeder based on the weeding points, wherein the verification includes whether the weeder has repeatedly weeded or missed weeding in each area of ​​the farmland to be weeded; When repeated weeding or missed weeding occurs, a personalized control instruction for the weeder is generated, and auxiliary control of the weeder is performed based on the personalized control instruction.

9. A weeding assistance method for a weeder based on high-precision positioning, characterized in that: include: Step 1: Obtain information about the farmland to be weeded using a drone, and generate a farmland area map based on the information about the farmland to be weeded; Step 2: Perform high-precision positioning updates on the weeder based on a preset frequency to obtain the real-time location of the weeder, and match the real-time location with the farmland area map; Step 3: Determine the working position of the weeder in the farmland based on the matching results, generate a working route for the weeder based on the working position, and make auxiliary weeding decisions for the weeder based on the working route.

10. The weeding assisting method for a weeder based on high-precision positioning according to claim 9, characterized in that: In step 1, the information of the farmland to be weeded is obtained using the drone, and a farmland area map is generated based on the information of the farmland to be weeded, including: Obtain the rough terrain and edge features of the farmland to be weeded, and determine the flight path of the UAV over the farmland to be weeded based on the rough terrain and row-by-row flight traversal; The edge features of the farmland to be weeded are used as the basis for automatic correction of the UAV's flight edge and adapted in the UAV; Based on the adaptation result, the UAV is controlled to collect images of the farmland to be weeded above the farmland to be weeded, obtain an image of the farmland area, and transmit the image of the farmland area back to the management terminal; The edge of the farmland area image transmitted back is determined based on the edge features. At the same time, the pixel of the farmland area image is traversed to obtain the visual representation of the recorded object at each pixel point; The information of the farmland to be weeded is obtained based on the visual representation of the farmland edge and the recorded objects at each pixel point; Generate a farmland area map based on the farmland information to be weeded.

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